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<title>UT Intelligent Robotics Research</title>
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<h1>UT Intelligent Robotics Research</h1>

Spatial reasoning and intelligent robotics based on the <!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><!WA0><a
href="http://www.cs.utexas.edu/users/qr/ssh-overview.html"> Spatial Semantic Hierarchy</a>, has been a
focus for research in the <!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><!WA1><a href="http://net.cs.utexas.edu/users/qr/">
Qualitative Reasoning group</a>.  <p>

Most of our work has concentrated on mobile robot exploration and
mapping of previously unknown environments.  We have used a number of
different simulated robots, and are now working with several types of
<!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><!WA2><a href="http://www.cs.utexas.edu/users/qr/physical-robots.html"> physical robots</a>.  <p>

We have recently been exploring new methods for 
<!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><!WA3><a href="http://www.cs.utexas.edu/users/robot/argus/top-level.html">
real-time active vision</a>, primarily but not exclusively motivated
by the navigational needs of a mobile robot.  <p>

Work on <!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><!WA4><a href="http://www.cs.utexas.edu/users/qr/papers-QR.html#HC"> heterogeneous control</a>
(our approach to fuzzy control, supporting validation via qualitative
simulation), is also relevant to the robotics research.  <p>

<hr>

<h2> Robotics Researchers </h2>

<ul>
 <li> <!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><!WA5><a href="http://www.cs.utexas.edu/users/kuipers"> Ben Kuipers</a> --- kuipers@cs.utexas.edu
 <li> <!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><!WA6><a href="http://www.cs.utexas.edu/users/sbishop">Spencer Bishop</a> --- sbishop@cs.utexas.edu
 <li> <!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><!WA7><a href="http://www.cs.utexas.edu/users/osiris">Rob Browning</a> --- osiris@cs.utexas.edu
 <li> <!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><!WA8><a href="http://www.cs.utexas.edu/users/chaput">Cliff Chaput</a> --- chaput@cs.utexas.edu
 <li> <!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><!WA9><a href="http://www.cs.utexas.edu/users/grib/vision.html">Bill Gribble</A>
       --- grib@cs.utexas.edu
 <li> <!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><!WA10><a href="http://www.cs.utexas.edu/users/wylee"> Wan Yik Lee</a> --- wylee@cs.utexas.edu
 <li> <!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><!WA11><a href="http://www.cs.utexas.edu/users/eremolin">Emilio Remolina</a> --- eremolin@cs.utexas.edu
</ul>


<hr>

<h2> <a name="robot-papers"> Indexed Bibliography </a> </h2>

  <ul>
   <li> <!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><!WA12><a href="#SSH"> The Spatial Semantic Hierarchy </a>
   <li> <!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><!WA13><a href="#TOUR"> The TOUR Model </a>
   <li> <!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><!WA14><a href="#Critter">Learning from Uninterpreted Sensors and Effectors  </a>
   <li> <!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><!WA15><a href="#speed">High-Speed Motion Control  </a>
   <li> <!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><!WA16><a href="#swan">"Swan's Neck" Highly-Redundant Manipulators </a>
   <li> <!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><!WA17><a href="#robot">Mobile Robot Experiments </a>
   <li> <!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><!WA18><a href="#vision">Active Vision </a>
  </ul>


<H2><a name="SSH">The Spatial Semantic Hierarchy</a></H2>

<ul>

 <li>  B. Kuipers.  1996.
<!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><!WA19><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-qr-96.ps.Z">
<b>A hierarchy of qualitative representations for space</b></a>.
In <i>Working Papers of the Tenth International Workshop on
Qualitative Reasoning (QR-96)</i>, Fallen Leaf
Lake, California. <br>
<!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><!WA20><a href="http://www.cs.utexas.edu/users/qr/abstracts-robotics.html">[Abstract]</a> <P>

 <li>   B. Kuipers, R. Froom, W.-Y. Lee & D. Pierce.  1993.  
<!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><!WA21><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers+Froom+Lee+Pierce-93.ps.Z">
<b>The semantic hierarchy in robot learning.</b></a>   
In J. Connell and S. Mahadevan (Eds.), <i>Robot Learning</i>.
Kluwer Academic Publishers, 1993, pages 141-170.
 <p>

 <li>  B. J. Kuipers & Y.-T. Byun.  1991.
<!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><!WA22><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers+Byun-jras-91.ps.Z">
<b>A robot exploration and mapping strategy based on a semantic hierarchy
of spatial representations.</b></a>
<i>Journal of Robotics and Autonomous Systems</i>, <b>8</b>:  47-63. <P>
Reprinted in Walter Van de Velde (ed.), <i>Towards Learning Robots</i>, 
Bradford/MIT Press, 1993. <p>

 <li>  B. J. Kuipers & Y.-T. Byun.  1988.
<b>A robust qualitative method for spatial learning in unknown environments.</b>
In <i>Proceedings of the National
Conference on Artificial Intelligence (AAAI-88)</i>.  Los Altos, CA:
Morgan Kaufman, 1988.   <p>

</ul>

<H2><a name="TOUR">The TOUR Model</a></H2>

<ul>

 <li>  B. J. Kuipers and T. Levitt.  1988.
<b>Navigation and mapping in large scale space.</b>
<i>AI Magazine</i>, vol. 9, no. 2, Summer 1988, pp. 25-43. <P>
Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shing Chen (Ed.),
Norwood NJ:  Ablex Publishing, 1990. <p>

 <li> B. J. Kuipers.  1983.
<!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><!WA23><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-pick-83.ps.Z">
<b>The cognitive map:  Could it have been any other way?</b></a>
In H. L. Pick, Jr. and L. P. Acredolo (Eds.),
<i>Spatial Orientation:  Theory, Research, and Application</i>.
New York:  Plenum Press, 1983, pages 345-359.  <p>

 <li>  B. J. Kuipers.  1982.  <b>The `Map in the Head' metaphor.</b>
<i>Environment and Behavior</i> <b>14</b>:  202-220, 1982. <P>

 <li>  B. J. Kuipers.  1979.
<!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><!WA24><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-csk-79.ps.Z">
<b>On representing common sense knowledge</b></a>.  In N. V. Findler
(Ed.), <em>Associative Networks:  The Representation and Use
of Knowledge by Computers</em>.  New York:  Academic Press, 1979, pages 393--408. <P>

 <li>  B. J. Kuipers.  1979.
<B>Commonsense knowledge of space:  learning from experience.</B>
In <I>Proceedings of the Sixth International Joint Conference on
Artificial Intelligence (IJCAI-79)</I>.  Tokyo, Japan, August 1979. <P>
Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shing Chen (Ed.),
Norwood NJ:  Ablex Publishing, 1990. <p>

 <li> B. J. Kuipers.  1978.  
<!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><!WA25><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-cogsci-78.ps.Z">
<b>Modeling spatial knowledge</b></a>.
<i>Cognitive Science</i>, <b>2</b>: 129-153, 1978. <P>  

Reprinted in <i>Advances in Spatial Reasoning, Volume 2</i>, Su-shing
Chen (Ed.), Norwood NJ: Ablex Publishing, 1990. <p>

  <ul>
   <li> The version of the PS file currently available (7-16-96) is
missing the two figures.  I'll fix it as soon as possible.
   <li> There is a 
<!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><!WA26><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-cogsci-78-beta.ps.Z">
Word version</a> of the paper that includes the figures,
but is a much longer file, and fails to display reasonably in ghostview,
though it seems to print correctly.<p>
  </ul>

 <li>  B. J. Kuipers.  1977.
<B>Representing Knowledge of Large-Scale Space</B>.  Doctoral dissertation,
Mathematics Department, Massachusetts Institute of Technology,
Cambridge, Massachusetts, June 1977.  Published as Technical Report
418, M.I.T. Artificial Intelligence Laboratory, 1977. <P>

</ul>

<h2><a name="Critter">Learning from Uninterpreted Sensors and Effectors</a></h2>

<ul>

<li> David Pierce and Benjamin Kuipers.  1997.
<!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><!WA27><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-aij-97.ps.Z">
<b>Map learning with uninterpreted sensors and effectors</b></a>.
<cite>Artificial Intelligence Journal</cite>, 1997.
 <br>
<!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><!WA28><a href="http://www.cs.utexas.edu/users/qr/abstracts-robotics.html#Learning">[Abstract]</a>
 <p>

 <li> David M. Pierce.  1995.  
<!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><!WA29><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce-PhD-95.ps.Z">
<B>Map Learning with Uninterpreted Sensors and Effectors</B></a>.
Doctoral dissertation, Department of Computer Sciences, The University of Texas
at Austin.  (TR AI95-233, May 1995.)
 <P>

 <li> D. Pierce and B. Kuipers.  1994.  
<!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><!WA30><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-AAAI94.ps.Z">
<b>Learning to explore and build
maps.</b></a>   In <i>Proceedings of the National Conference on Artificial
Intelligence (AAAI-94)</i>, AAAI/MIT Press, 1994.
 <p>

 <li> David M. Pierce.  1991.  <!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><!WA31><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce-ICRA91.ps.Z">
<b>Learning turn and travel actions with an
uninterpreted sensorimotor apparatus.</b></a>  In <i> Proceedings of the IEEE
International Conference on Robotics and Automation</i>, pp. 246-251.
Los Alamitos, CA: IEEE Computer Society Press.
 <p>

 <li>  David M. Pierce and B. J. Kuipers.  1991.  
<!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><!WA32><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Pierce+Kuipers-SAB90.ps.Z">
<b>Learning hill-climbing
functions as a strategy for generating behaviors in a mobile robot.</b></a>  
In J.-A. Meyer and S. W. Wilson (Eds.), <i> From Animals to Animats:  
Proceedings of the International Conference on Simulation
of Adaptive Behavior</i>, pp. 327-336.  Cambridge, MA:  MIT
Press/Bradford Books, 1991.
  <p>

 <li> Benjamin Kuipers.  1985.  
<!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><!WA33><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Kuipers-aitr-85-17.ps.Z">
<b>The Map-Learning Critter</b></a>.
University of Texas at Austin, Artificial Intelligence Laboratory
AI TR 85-17, December 1985.  <p>

</ul>

<h2><a name="speed">High-Speed Motion Control</a></h2>

<ul>

 <li> Richard Froom.  1995.  
<!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><!WA34><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-PhD-95.ps.Z">
<B>High-Speed Navigation with Approximate Maps</B></a>.
Doctoral dissertation, Department of Computer Sciences, The University of Texas
at Austin.
 <P>

 <li> Richard Froom.  1992.  
<!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><!WA35><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-SPIE92.ps.Z">
<b>Approximate maps for high-speed control of a mobile robot.</b></a>  In
<i> Mobile Robots VII: Proceedings of SPIE -- the International Society for
Optical Engineering v. 1831</i>, Boston, MA, November 15-20 1992.
  <p>

 <li> Richard Froom.  1991.  
<!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><!WA36><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Froom-ieee91.ps.Z">
<b>Acquiring effective knowledge of environment geometry for
minimum-time control of a mobile robot</b></a>.  In <i> Proceedings of the 1991 IEEE
International Symposium on Intelligent Control</i>, pages 501-506, Arlington, VA,
August 13-15 1991.  <p>

</ul>

<h2><a name="swan">"Swan's Neck" Highly-Redundant Manipulators</a></h2>

<ul>

 <li> Motion planning for the <!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><!WA37><a href="http://www.cs.utexas.edu/users/qr/swans-neck.html"> "Swan's Neck" manipulator</a>.  <p>

 <li>
 Akira Hayashi and Benjamin Kuipers.  1992.  
<!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><!WA38><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi+Kuipers-IROS92.ps.Z">
<b>A continuous approach to robot motion planning with many degrees of
freedom.</b></a> In <i>Proceedings of the 1992 IEEE International
Conference on Intelligent Robots and Systems (IROS'92)</i>.  <p>

 <li> Akira Hayashi & B. J. Kuipers.  1991.  
<!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><!WA39><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi+Kuipers-AAAI91.ps.Z">
<b>Path planning for
highly-redundant manipulators using a continuous-curvature model.</b></a>  In
<i>Proceedings of the National Conference on Artificial Intelligence
(AAAI-91)</i>, AAAI/MIT Press, 1991.
 <p>

 <li> Akira Hayashi.  1991.
<!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><!WA40><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Hayashi-PhD-91.ps.Z">
<b>Geometrical Motion Planning for Highly
Redundant Manipulators Using a Continuous Manipulator Model</b></a>.
Doctoral dissertation, Department of Computer Sciences, University of
Texas at Austin, Austin, Texas.  May 1991.  (Available as TR
AI91-156.) 
  <p>

</ul>

<h2><a name="robot">Mobile Robot Experiments</a></h2>

<ul>

 <li>  Wan Yik Lee.  1995.
<!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><!WA41><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Lee-AITR-95-235.ps.gz">
<b>A Guide to Programming Spot, a Mobile Robot of the University of Texas at Austin</b></a>. 
Artificial Intelligence Laboratory, The University of Texas at Austin, 
AI Laboratory Technical Report AI95-235, June 1995.  <p>

 <li>  Wan Yik Lee.  1995.
<!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><!WA42><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Lee-AITR-95-240.ps.gz">
<b>Programming Spot in Lisp with SpotLisp Package</b></a>. 
Artificial Intelligence Laboratory, The University of Texas at Austin, 
AI Laboratory Technical Report AI95-240, June 1995.  <p>

</ul>

<h2><a name="vision">Active Vision</a></h2>

<ul>

 <li> William S. Gribble.  1995.  
<!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><!WA43><a href="file://ftp.cs.utexas.edu/pub/qsim/papers/Gribble-iscv-95.ps.Z">
<B>Slow visual search in a fast-changing world</B></a>.  In
<I>Proceedings of the 1995 IEEE Symposium on Computer Vision (ISCV-95)</I>
 <p>

</ul>

<hr>
<!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><!WA44><a href="http://www.cs.utexas.edu/users/qr">[QR home]</a>

<address><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><!WA45><a href="http://www.cs.utexas.edu/users/kuipers">BJK</a></address>



